From 583f00e0b8efe2832f63efb478a51d3ad35e92ed Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sun, 7 Oct 2007 22:16:03 +0200 Subject: Included SI2E avr modules. Well, this need more works... --- digital/avr/modules/math/fixed/test/Makefile | 38 ++++ digital/avr/modules/math/fixed/test/avrconfig.h | 86 ++++++++ digital/avr/modules/math/fixed/test/test_fixed.c | 247 +++++++++++++++++++++++ 3 files changed, 371 insertions(+) create mode 100644 digital/avr/modules/math/fixed/test/Makefile create mode 100644 digital/avr/modules/math/fixed/test/avrconfig.h create mode 100644 digital/avr/modules/math/fixed/test/test_fixed.c (limited to 'digital/avr/modules/math/fixed/test') diff --git a/digital/avr/modules/math/fixed/test/Makefile b/digital/avr/modules/math/fixed/test/Makefile new file mode 100644 index 00000000..04aa4cff --- /dev/null +++ b/digital/avr/modules/math/fixed/test/Makefile @@ -0,0 +1,38 @@ +BASE = ../../../.. +PROGS = test_fixed +SIMU_PROGS = test_fixed +test_fixed_SOURCES = test_fixed.c +MODULES = uart proto utils math/fixed math/random +CONFIGFILE = avrconfig.h +# atmega8, atmega8535, atmega128... +AVR_MCU = atmega128 +# -O2 : speed +# -Os : size +OPTIMIZE = -O2 + +HOST_LIBS = -lm + +include $(BASE)/make/Makefile.gen + +# Automatic tests. + +TEST_FILES = test.mul test.div test.cos test.sqrt +TEST_FILES := $(TEST_FILES:%=%.host) $(TEST_FILES:%=%.simu) +code_mul = m +code_div = d +code_cos = c +code_sqrt = s +code = $(code_$(1:test.%.$(2)=%)) + +clean.test: + rm -f $(TEST_FILES) + +SIMULAVR = simulavr -d $(AVR_MCU) -W 0x22,- -R 0x20,- -T uart0_exit + +.PRECIOUS: $(TEST_FILES) + +test.%.host: test_fixed.host + echo '!$(call code,$@,host)' | ./$< > $@ + +test.%.simu: test_fixed.avr.simu.elf + echo '!$(call code,$@,simu)\r' | $(SIMULAVR) -f $< > $@ diff --git a/digital/avr/modules/math/fixed/test/avrconfig.h b/digital/avr/modules/math/fixed/test/avrconfig.h new file mode 100644 index 00000000..763c9185 --- /dev/null +++ b/digital/avr/modules/math/fixed/test/avrconfig.h @@ -0,0 +1,86 @@ +#ifndef avrconfig_h +#define avrconfig_h +/* avrconfig.h */ +/* avr.math.fixed - Fixed point math module. {{{ + * + * Copyright (C) 2005 Nicolas Schodet + * + * Robot APB Team/Efrei 2006. + * Web: http://assos.efrei.fr/robot/ + * Email: robot AT efrei DOT fr + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * }}} */ + +/* global */ +/** AVR Frequency : 1000000, 1843200, 2000000, 3686400, 4000000, 7372800, + * 8000000, 11059200, 14745600, 16000000, 18432000, 20000000. */ +#define AC_FREQ 14745600 + +/* uart - UART module. */ +/** Select hardware uart for primary uart: 0, 1 or -1 to disable. */ +#define AC_UART0_PORT 0 +/** Baudrate: 2400, 4800, 9600, 14400, 19200, 28800, 38400, 57600, 76800, + * 115200, 230400, 250000, 500000, 1000000. */ +#define AC_UART0_BAUDRATE 115200 +/** Send mode: + * - POLLING: no interrupts. + * - RING: interrupts, ring buffer. */ +#define AC_UART0_SEND_MODE RING +/** Recv mode, same as send mode. */ +#define AC_UART0_RECV_MODE RING +/** Character size: 5, 6, 7, 8, 9 (only 8 implemented). */ +#define AC_UART0_CHAR_SIZE 8 +/** Parity : ODD, EVEN, NONE. */ +#define AC_UART0_PARITY EVEN +/** Stop bits : 1, 2. */ +#define AC_UART0_STOP_BITS 1 +/** Send buffer size, should be power of 2 for RING mode. */ +#define AC_UART0_SEND_BUFFER_SIZE 32 +/** Recv buffer size, should be power of 2 for RING mode. */ +#define AC_UART0_RECV_BUFFER_SIZE 32 +/** If the send buffer is full when putc: + * - DROP: drop the new byte. + * - WAIT: wait until there is room in the send buffer. */ +#define AC_UART0_SEND_BUFFER_FULL WAIT +/** In HOST compilation: + * - STDIO: use stdin/out. + * - PTS: use pseudo terminal. */ +#define AC_UART0_HOST_DRIVER STDIO +/** Same thing for secondary port. */ +#define AC_UART1_PORT -1 +#define AC_UART1_BAUDRATE 115200 +#define AC_UART1_SEND_MODE RING +#define AC_UART1_RECV_MODE RING +#define AC_UART1_CHAR_SIZE 8 +#define AC_UART1_PARITY EVEN +#define AC_UART1_STOP_BITS 1 +#define AC_UART1_SEND_BUFFER_SIZE 32 +#define AC_UART1_RECV_BUFFER_SIZE 32 +#define AC_UART1_SEND_BUFFER_FULL WAIT +#define AC_UART1_HOST_DRIVER STDIO + +/* proto - Protocol module. */ +/** Maximum argument size. */ +#define AC_PROTO_ARGS_MAX_SIZE 8 +/** Callback function name. */ +#define AC_PROTO_CALLBACK proto_callback +/** Putchar function name. */ +#define AC_PROTO_PUTC uart0_putc +/** Support for quote parameter. */ +#define AC_PROTO_QUOTE 0 + +#endif /* avrconfig_h */ diff --git a/digital/avr/modules/math/fixed/test/test_fixed.c b/digital/avr/modules/math/fixed/test/test_fixed.c new file mode 100644 index 00000000..875aad4f --- /dev/null +++ b/digital/avr/modules/math/fixed/test/test_fixed.c @@ -0,0 +1,247 @@ +/* test_fixed.c */ +/* avr.math.fixed - Fixed point math module. {{{ + * + * Copyright (C) 2005 Nicolas Schodet + * + * Robot APB Team/Efrei 2006. + * Web: http://assos.efrei.fr/robot/ + * Email: robot AT efrei DOT fr + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * }}} */ +#include "common.h" +#include "modules/math/fixed/fixed.h" +#include "modules/math/random/random.h" +#include "modules/uart/uart.h" +#include "modules/proto/proto.h" +#include "modules/utils/utils.h" +#include "io.h" + +#ifdef HOST + +#include +#include +#include + +static void +check_mul (int32_t a, int32_t b, int32_t r) +{ + feclearexcept (FE_ALL_EXCEPT); + double af = (double) a / (1 << 24); + double bf = (double) b / (1 << 24); + int32_t ri = rint (af * bf * (1 << 24)); + if (r != ri && !fetestexcept (FE_INVALID)) + printf ("error: %08x * %08x != %08x (%08x)\n", a, b, r, ri); +} + +static void +check_div (int32_t a, int32_t b, int32_t r) +{ + feclearexcept (FE_ALL_EXCEPT); + double af = (double) a / (1 << 24); + double bf = (double) b / (1 << 24); + int32_t ri = af / bf * (1 << 24); + if (r != ri && !fetestexcept (FE_INVALID)) + printf ("error: %08x / %08x != %08x (%08x)\n", a, b, r, ri); +} + +static void +check_cos (int32_t a, int32_t rc, int32_t rs) +{ + double af = (double) a / (1 << 24) * 2 * M_PI; + int32_t rci = cos (af) * (1 << 24); + if (rc != rci) + printf ("error: cos (%08x) != %08x (%08x%+d)\n", + a, rc, rci, rc - rci); + int32_t rsi = sin (af) * (1 << 24); + if (rs != rsi) + printf ("error: sin (%08x) != %08x (%08x%+d)\n", + a, rs, rsi, rs - rsi); +} + +static void +check_sqrt (uint32_t a, uint32_t rf, uint16_t ri) +{ + double aff = (double) a / (1 << 8); + uint32_t rfi = sqrt (aff) * (1 << 8); + if (rf != rfi) + printf ("error: sqrt_f (%08x) != %08x (%08x%+d)\n", + a, rf, rfi, rf - rfi); + double aif = (double) a; + uint16_t rii = sqrt (aif); + if (ri != rii) + printf ("error: sqrt_i (%08x) != %04x (%04x%+d)\n", + a, ri, rii, ri - rii); +} + +#else + +# define check_mul(a, b, r) +# define check_div(a, b, r) +# define check_cos(a, rc, rs) +# define check_sqrt(a, rf, ri) + +#endif + +void +proto_callback (uint8_t cmd, uint8_t size, uint8_t *args) +{ + uint8_t ap, bp, as, bs; + uint16_t i; + int32_t al, bl, rl[4]; + uint32_t patl[] = { 0xa66a6aa6, 0x5a5affff, 0xffcdffcd, 0xffffffff }; +#define patn (sizeof (patl) / sizeof (patl[0])) +#define c(cmd, size) (cmd << 8 | size) + switch (c (cmd, size)) + { + case c ('z', 0): + utils_reset (); + break; + case c ('m', 0): + for (ap = 0; ap < patn; ap++) + for (bp = 0; bp < patn; bp++) + for (as = 0; as < 32; as++) + for (bs = 0; bs < 32; bs++) + { + al = patl[ap] >> as; + bl = patl[bp] >> bs; + proto_send2d ('a', al, bl); + rl[0] = fixed_mul_f824 (al, bl); + check_mul (al, bl, rl[0]); + rl[1] = fixed_mul_f824 (-al, bl); + check_mul (-al, bl, rl[1]); + rl[2] = fixed_mul_f824 (al, -bl); + check_mul (al, -bl, rl[2]); + rl[3] = fixed_mul_f824 (-al, -bl); + check_mul (-al, -bl, rl[3]); + proto_send4d ('r', rl[0], rl[1], rl[2], rl[3]); + } + for (i = 0; i < 64000; i++) + { + al = random_u32 (); + bl = random_u32 (); + proto_send2d ('a', al, bl); + rl[0] = fixed_mul_f824 (al, bl); + check_mul (al, bl, rl[0]); + rl[1] = fixed_mul_f824 (-al, bl); + check_mul (-al, bl, rl[1]); + rl[2] = fixed_mul_f824 (al, -bl); + check_mul (al, -bl, rl[2]); + rl[3] = fixed_mul_f824 (-al, -bl); + check_mul (-al, -bl, rl[3]); + proto_send4d ('r', rl[0], rl[1], rl[2], rl[3]); + } + break; + case c ('d', 0): + for (ap = 0; ap < patn; ap++) + for (bp = 0; bp < patn; bp++) + for (as = 0; as < 32; as++) + for (bs = 0; bs < 31; bs++) + { + al = patl[ap] >> as; + bl = patl[bp] >> bs; + proto_send2d ('a', al, bl); + rl[0] = fixed_div_f824 (al, bl); + check_div (al, bl, rl[0]); + rl[1] = fixed_div_f824 (-al, bl); + check_div (-al, bl, rl[1]); + rl[2] = fixed_div_f824 (al, -bl); + check_div (al, -bl, rl[2]); + rl[3] = fixed_div_f824 (-al, -bl); + check_div (-al, -bl, rl[3]); + proto_send4d ('r', rl[0], rl[1], rl[2], rl[3]); + } + for (i = 0; i < 64000; i++) + { + al = random_u32 (); + bl = random_u32 (); + if (bl != 0) + { + proto_send2d ('a', al, bl); + rl[0] = fixed_div_f824 (al, bl); + check_div (al, bl, rl[0]); + rl[1] = fixed_div_f824 (-al, bl); + check_div (-al, bl, rl[1]); + rl[2] = fixed_div_f824 (al, -bl); + check_div (al, -bl, rl[2]); + rl[3] = fixed_div_f824 (-al, -bl); + check_div (-al, -bl, rl[3]); + proto_send4d ('r', rl[0], rl[1], rl[2], rl[3]); + } + } + break; + case c ('c', 0): + for (al = 0; al < (1L << 24); al += 257) + { + proto_send1d ('a', al); + rl[0] = fixed_cos_f824 (al); + rl[1] = fixed_sin_f824 (al); + check_cos (al, rl[0], rl[1]); + proto_send2d ('r', rl[0], rl[1]); + } + for (i = 0; i < 64000; i++) + { + al = random_u32 () & 0xffffff; + proto_send1d ('a', al); + rl[0] = fixed_cos_f824 (al); + rl[1] = fixed_sin_f824 (al); + check_cos (al, rl[0], rl[1]); + proto_send2d ('r', rl[0], rl[1]); + } + break; + case c ('s', 0): + for (ap = 0; ap < patn; ap++) + for (as = 0; as < 32; as++) + { + al = patl[ap] >> as; + proto_send1d ('a', al); + rl[0] = fixed_sqrt_uf248 (al); + rl[1] = fixed_sqrt_ui32 (al); + check_sqrt (al, rl[0], rl[1]); + proto_send2d ('r', rl[0], rl[1]); + } + for (i = 0; i < 64000; i++) + { + al = random_u32 (); + proto_send1d ('a', al); + rl[0] = fixed_sqrt_uf248 (al); + rl[1] = fixed_sqrt_ui32 (al); + check_sqrt (al, rl[0], rl[1]); + proto_send2d ('r', rl[0], rl[1]); + } + break; + default: + proto_send0 ('?'); + return; + } + /* When no error acknoledge. */ + proto_send (cmd, size, args); +#undef c +} + +int +main (int argc, char **argv) +{ + avr_init (argc, argv); + sei (); + uart0_init (); + proto_send0 ('z'); + while (1) + { + uint8_t c = uart0_getc (); + proto_accept (c); + } +} -- cgit v1.2.3